152 lines
4.6 KiB
C++
152 lines
4.6 KiB
C++
/*************************************************************************/
|
|
/* navigation_agent_3d.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
|
|
#ifndef NAVIGATION_AGENT_H
|
|
#define NAVIGATION_AGENT_H
|
|
|
|
#include "core/templates/vector.h"
|
|
#include "scene/main/node.h"
|
|
|
|
class Node3D;
|
|
|
|
class NavigationAgent3D : public Node {
|
|
GDCLASS(NavigationAgent3D, Node);
|
|
|
|
Node3D *agent_parent = nullptr;
|
|
|
|
RID agent;
|
|
|
|
real_t target_desired_distance = 1.0;
|
|
real_t radius;
|
|
real_t navigation_height_offset = 0.0;
|
|
bool ignore_y;
|
|
real_t neighbor_dist;
|
|
int max_neighbors;
|
|
real_t time_horizon;
|
|
real_t max_speed;
|
|
|
|
real_t path_max_distance = 3.0;
|
|
|
|
Vector3 target_location;
|
|
Vector<Vector3> navigation_path;
|
|
int nav_path_index;
|
|
bool velocity_submitted = false;
|
|
Vector3 prev_safe_velocity;
|
|
/// The submitted target velocity
|
|
Vector3 target_velocity;
|
|
bool target_reached = false;
|
|
bool navigation_finished = true;
|
|
// No initialized on purpose
|
|
uint32_t update_frame_id;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
void _notification(int p_what);
|
|
|
|
public:
|
|
NavigationAgent3D();
|
|
virtual ~NavigationAgent3D();
|
|
|
|
RID get_rid() const {
|
|
return agent;
|
|
}
|
|
|
|
void set_target_desired_distance(real_t p_dd);
|
|
real_t get_target_desired_distance() const {
|
|
return target_desired_distance;
|
|
}
|
|
|
|
void set_radius(real_t p_radius);
|
|
real_t get_radius() const {
|
|
return radius;
|
|
}
|
|
|
|
void set_agent_height_offset(real_t p_hh);
|
|
real_t get_agent_height_offset() const {
|
|
return navigation_height_offset;
|
|
}
|
|
|
|
void set_ignore_y(bool p_ignore_y);
|
|
bool get_ignore_y() const {
|
|
return ignore_y;
|
|
}
|
|
|
|
void set_neighbor_dist(real_t p_dist);
|
|
real_t get_neighbor_dist() const {
|
|
return neighbor_dist;
|
|
}
|
|
|
|
void set_max_neighbors(int p_count);
|
|
int get_max_neighbors() const {
|
|
return max_neighbors;
|
|
}
|
|
|
|
void set_time_horizon(real_t p_time);
|
|
real_t get_time_horizon() const {
|
|
return time_horizon;
|
|
}
|
|
|
|
void set_max_speed(real_t p_max_speed);
|
|
real_t get_max_speed() const {
|
|
return max_speed;
|
|
}
|
|
|
|
void set_path_max_distance(real_t p_pmd);
|
|
real_t get_path_max_distance();
|
|
|
|
void set_target_location(Vector3 p_location);
|
|
Vector3 get_target_location() const;
|
|
|
|
Vector3 get_next_location();
|
|
|
|
Vector<Vector3> get_nav_path() const {
|
|
return navigation_path;
|
|
}
|
|
|
|
int get_nav_path_index() const {
|
|
return nav_path_index;
|
|
}
|
|
|
|
real_t distance_to_target() const;
|
|
bool is_target_reached() const;
|
|
bool is_target_reachable();
|
|
bool is_navigation_finished();
|
|
Vector3 get_final_location();
|
|
|
|
void set_velocity(Vector3 p_velocity);
|
|
void _avoidance_done(Vector3 p_new_velocity);
|
|
|
|
virtual String get_configuration_warning() const override;
|
|
|
|
private:
|
|
void update_navigation();
|
|
};
|
|
|
|
#endif
|